/********************************************
* Copyrigt (C) rumi
* Module: mgr_trace.h
*********************************************/
#ifndef mgr_trace_H
#define mgr_trace_H
#include <iostream>
#include <cstring>
#include <sys/mman.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <semaphore.h>
#include <chrono>
#include <thread>
#include <iomanip> 
#include <sstream> 
#include <sys/mman.h>
#include <sys/stat.h>
#include <semaphore.h>
#include <sys/types.h>
#include <cstdlib>
#include <ctime>
#include <mutex>
#include "mgr_tracedata.h"

typedef struct
{
    uint8_t ReadVer;
    uint8_t PID_Left;
    uint8_t PID_Right;
    uint8_t PID_Stand;
    uint8_t PID_Ster; 
}Trace_SendFlag_Typedef;

extern Trace_RecvData_Typedef RecDataFromRos;
extern Trace_SendData_Typedef SendDataToRos;

void receiveDataFromShm();
void sendDataToShm();


#endif
/********************************************
 * End of file
*********************************************/